ROS-based utilities for motion capture

Install

Dependencies

RBDyn

Installation procedure

$ catkin build -DCMAKE_BUILD_TYPE=RelWithDebInfo

Examples

Visualize BVH animation

$ roslaunch mocap_ros_utils visualize_bvh.launch

https://github.com/isri-aist/MocapRosUtils/assets/6636600/c1c3b077-3f81-42dd-9d78-1073588b167a

Dump URDF file from BVH hierarchy data

$ rosrun mocap_ros_utils GenerateUrdfFromBvh `rospack find mocap_ros_utils`/data/sample_walk.bvh /tmp/BvhRobot.urdf BvhRobot
# Visualize URDF model
$ roslaunch urdf_tutorial display.launch model:=/tmp/BvhRobot.urdf

Dump rosbag file from BVH motion data

$ rosrun mocap_ros_utils DumpRosbagFromBvh `rospack find mocap_ros_utils`/data/sample_walk.bvh /tmp/sample_walk.bag